Remote control crane system



Oct. 3, 1967 D. G. JELATIS E TAL REMOTE CONTROL CRANE SYSTEM 2Sheets-Sheet 1 Filed April 8, 1966 IN VENTOR. DEME new: 6. JZ=L ATM BYFRANK 6. CHEJLEY Bxwddoekafiund Ar TORNEYJ Oct. 3, 1967 D. G JELATISETAL 3, ,933,

REMOTE CONTROL CRANE SYSTEM Filed April 8, 1966 I 2 Sheets-Sheet 2 61? cFILE. 4 67 66 70 INVENTOR. DEME TR/UJ GIJZ-"L/i T/J FRANK G. (WESLEYATTORNEYJ United States Patent 3,344,933 REMOTE CONTROL CRANE SYSTEMDemetrius G. .lelatis and Frank G. Chesley, Red Wing, Minn., assignorsto Central Research Laboratories, Inc., Red Wing, Minn., a corporationof Minnesota Filed Apr. 8, 1966, Ser. No. 541,371 Claims. (Cl. 21224)This system relates to a remote control load handling system which canbe operated from outside of a totally enclosed space. More particularly,the invention relates to a remotely controlled overhead crane forhoisting and lowering loads of substantial Weight in areas which are notsafely accessible to an operator, or in a space which is cramped so asnot to permit room for an operator or driving and hoisting mechanismcarried by the crane.

The system of the present invention is applicable to situations where itis desirable and necessary to eliminate electrical components, such aselectrical cables and motors, from the confines of an enclosed spacebecause of the possibility that they may be damaged or theircharacteristics altered by the influence of atomic radiation. The systemis also effective for lifting and transporting materials of a biologicalnature or hazardous chemicals Where fumes and explosions must beconfined.

The system comprises a cross member, such as a bridge crane, adapted tobe moved along a pair of spaced apart side rails, a carriage adapted tobe moved back and forth across the cross member between the side railsand a hoist adapted to raise and lower material relative to thecarriage. The drive system comprises an arrangement of pulleys, shaftsand cables by which the load handling system can be operated andcontrolled from the outside of a totally enclosed space within which thecrane is mounted. According to one form of the invention the cables arepassed through small holes in the boundary wall of the enclosed space.As an alternative the crane system may be dirven from pulleys and drumsretained within the enclosed space and driven by electric motors orother driving devices coupled with the pulleys and drums by flexible orrigid drive shafts running in seals through the boundary wall.

The invention is illustrated in the accompanying drawings in which thesame parts are identified by corresponding numerals and in which:

FIGURE 1 is a schematic isometric view showing the drive system for thebridge cross member of the crane system;

FIGURE 2 is a similar schematic isometric view showing the drive systemfor traversing the carriage or trolley carried by the cross member ofthe crane system;

FIGURE 3 is a similar schematic isometric view showing the drive systemfor the hoist carried by the carriage; and

FIGURE 4 is a schematic plan view, partly in section, showing a drivesystem in which the drums and pulleys are mounted inside of an enclosedspace and driven from outside of the enclosed space through appropriateseals.

For clarity, the several drive systems are shown independently, but itwill be understood that in any installation the several separate drivesare combined into a single composite system.

Referring now to FIGURE 1, which shows schematically the means for foreand aft movement of a bridge crane, the enclosure is indicated generallyin phantom lines at 10 and includes a front wall 11, back wall 12 andside Walls 14 and 15. Mounted within the enclosure 10 existing betweenthe front wall 11 and back wall 12 is a pair of parallel spaced aparttracks or rails 16 and 17. A bridge crane 18 extends transversely acrossthe enice closure between rails 16 and 17 and is provided at each endwith a pair of wheels or rollers 19 which engage the side rails 16 and17 to support and guide the bridge crane in its fore and aft movements.For some uses it is desirable that rails 16 and 17 and wheels 19 betoothed.

An actuating drum 20 for moving the bridge 18 fore and aft on rails 16and 17 is mounted for rotation on wall 11. Although shown on the outsideof that wall, it will be understood that alternatively it may be mountedon the inside of the wall and driven from the outside. The pulley ordrum 20 may be hand cranked or powered by an electric motor or otherprime mover.

A cable 21 is anchored at 22 to one end of bridge 18. Cable 21 extendsrearwardly from the bridge along the inside of sidewall 15, over anidler pulley or sheave 23 mounted adjacent the back wall 12 of theenclosure, thence back along the inside of side wall 15 to an idler 24mounted adjacent front wall 11 of the enclosure, around drum or pulley20, over another idler 25 mounted adjacent enclosure front wall 11 andthence back to anchorage 22 on the bridge 18.

It will be seen that as drum or pulley 20 is rotated in a clockwisedirection tension is exerted on that portion of cable 21 extending overidlers 24 and 23 to the anchorage 22 at bridge 18. This tension causesbridge 18 to be moved along the rails 16 and 17 toward the back wall 12of the enclosure. At the same time the bridge exerts tension on thatportion of cable 21 extending from anchorage 22 over idler 25 to drum orpulley 20 to maintain the cable under substantially uniform tension. Tomove the bridge in the opposite direction the direction of movement ofactuator drum or pulley 20 is reversed.

For stability, to prevent canting of bridge 18, is is de sirable thatthe bridge drive mechanism including pulley or drum 20, cable 21 andidlers 23-25 be duplicated at the opposite end of the bridge.Alternatively, a dead cable stabilizing system, as illustrated, may beemployed.

The stabilizing cable 26 is anchored at 27 in the front wall 11 of theenclosure. From that anchorage cable 26 extends rearwardly along theinside of enclosure side Wall 14 and clockwise around a double groovedidler 28 journalled for rotation on vertical axis at one end of bridge18. Thence cable 26 extends along bridge 18 to a companion doublegrooved idler 29 at the opposite end of the bridge. Cable 26 extendsaround idler 29 in the opposite or counterclockwise direction and thencerear- Wardly along enclosure side wall 15 to an idler 30 mountedadjacent the back wall 12 of the enclosure for rotation on a verticalaxis. Cable 26 extends counterclockwise around idler 30 along back wall12, counterclockwise around companion vertical axis idler 31 and thencealong side Wall 14 to idler 28. Cable 26 then extends counterclockwisearound idler 28 in the other groove, along bridge 18, clockwise aroundthe other groove of idler 29 and then along side wall 15 to an anchorage32 in wall 11. A turnbuckle 33 or similar tensioning device maintainsthe stabilizing cable 26 taut.

It will be seen that as the bridge is caused to travel by the bridgetraversing system the taut stabilization cable will insure that bothends of the bridge are moved together at the same rate. As the bridge istraversed, the length of cable 26 between anchor 27 and idler 28 becomeslonger as the length of cable on the opposite side of the enclosurebetween idler 29 and idler 30 becomes shorter. Similarly, the length ofcable between anchor 32 and idler 29 becomes longer as the length ofcable on the opposite side of the enclosure between idler 28 and andidler 31 becomes shorter. This occurs simltaneously and at the samerate.

Referring now to FIGURE 2, there is shown the means by which a carriageor trolley 35 is carried on a pair of wheels '36 on each side of thecarriage, back and forth along the length of bridge 18 on a pair ofparallel tracks or rails 37 carried by the bridge member. An actuatingdrum or pulley 38 is mounted adjacent wall 11. The actuating means maybe manual or powered ascorresponding actuating means 20. Drum or pulley38 is shown mounted on the inside of wall 11, but it may likewise bemounted on the outside and preferably all of the actuating means are onthe same side of the wall.

The carriage traversing cable 39 extends from drum or pulley 38 up andover an idler 40 along wall 11 to a vertical axis corner idler 41, andthence along side wall 15 to a double grooved idler 42 supported at oneend of bridge 18 for rotation about a vertical axis. From double groovedidler 42 cable 39 extends to a vertical axis capstan .43 which is freelymounted upon a base attached to the carriage 35 and the cable is wrappedone turn around the capstan in one direction. From the capstan the cable39 extends to one of a pair of vertical axis idlers 44 supported bybridge 18 at its opposite end. Cable 39 then extends along side wall 14to a corner vertical axis idler 45, along back wall 12 to a furthercompanion corner idler 46 and along side wall 15 to the other groove ofdouble grooved idler 42. In this second pass, cable 49 extends aroundidler 42 in the opposite direction and extends to capstan 43 aroundwhich it is also wrapped one turn in the opposite direction from thefirst pass. The cable 39 then extends to the other of a pair of verticalaxis idlers 47 at the opposite end of bridge 18, along side wall 14 to acorner idler 48, along front wall 11 to idler 49 and thence back down tothe actuating drum or pulley 38.

It will be seen that as the actuating means 38 is rotated in a clockwisedirection tension is exerted on cable 39 in its passage over idlers 40,41 and 42 and exerts a force on capstan 43 which is transmited to thecarriage 35 to move the carriage along the bridge 18 toward side wall15. The tension on the cable is also exerted in its path around idlers44, 45, 46 and 42 to capstan 43 where .it extends in the oppositedirection and exerts further tension on capstan 43 to assist in urgingit in its path of travel. Movement of the capstan insures maintenance oftension on the portion of cable extending around idlers 47, 48 and 49from the actuating drum 38. Rotation of the actuating drum 38 in theopposite direction reverses the direction of movement of the carriage35.

Referring now to FIGURE 3, there is shown the mechanism for raising orlowering a hook member 50 suspended from the carriage or trolley 35. Theweight of a load on the hook 50 is always effective to cause lowering ofthe hook. The illustrated mechanism serves to permit the operator toraise the load and to control lowering of a load suspended from the hook50. The actuating means includes a drum 51 to which one end of ahoisting cable 52 is attached.

Hoisting cable 52, as shown, extends up and over an idler 53, andthrough an aperture in the enclosure front wall 11, along the inside ofside wall 15 to a double grooved idler 54 carried by one end of bridge18 for rotation on a vertical axis. Cable 52 extends thence to one of apair of horizontal axis idlers 55 carried on one side of carriage 35,down and around a horizontal axis idler 56 carried by the hook memberand up and over the other of said pair of idlers 57 carried on the sameside of carriage 35 as idler 55. Cable 52 extends thence to one of apair of vertical axis idlers 58 carried by bridge 18 at the end oppositefrom double grooved idler 54 and thence along the inside of side wall 14to a corner vertical axis idler 59, along back wall 12 to a furthercampanion corner idler 60 and along side wall 15 to the other groove ofdouble grooved idler 54. Cable 52 extends around idler 54 in theopposite direction and then to one of a pair of idlers 61 carried bycarriage 35 on the opposite side from idlers 55 and 57, down and aroundidler 62 carried by the hook means, up and over the other of said pairof idlers .63 carried by carriage 35, around the other of said pair ofidlers 64 carried by bridge 18 and thence to an anchorage 65 inenclosure wall 11.

It will be seen that as drum 51 is rotated in a counterclockwisedirection tension will be exerted upon cable 52 as it is wound about thedrum. Tension is exerted on cable 52 in its path around idlers 53, 54and 55 and around idler 56 to lift the hook mechanism 50. The tension isfurther transmitted through the cable in its path around idlers 57, 58,59, 60, 54 and 61 and around idler 62 to exert a uniform upward pull onthe opposite side of the hook srtucture. The weight of the loadmaintains the cable taut in its path over idlers 63 and 64 to theanchorage 65. Any load supported by book 50 may be lowered by its ownweight with drum 51 functioning as a brake to control the rate oflowering.

While each of the motions shown in FIGURES 1, 2 and 3 is completelyindependent of each of the other two, they may be operated individuallyor simultaneously in any combination. The arrangements shown make itpossible to position the load lifting hook where desired within theconfines of the enclosed space and to utilize it in lifting and loweringloads as required.

In those instances where the driving cables pass through the boundarywall the mechanisms are desirably enclosed. It is possible to monitorthe cables in the event they might contain contamination of an atomic orbiological nature.

In FIGURE 4 there is shown an arrangement by which the cable mechanismsare located on the inside of the boundary wall 11 but driven from motors66 on the outside of the wall. Each of the drums or pulleys 20, 38 and51 is secured for rotation with one of the drive shafts 67 which areeach journalled in bearings 68 carried in a tubular housing 69 whichextends through the boundary wall. The tubular housing 69 is closed bymeans of appropriate packing 70 to prevent passage of dangerous orobnoxious materials through the shaft housings.

It is apparent that many modifications and variations of this inventionas hereinbefore set forth may be made without departing from the spiritand scope thereof. The specific embodiments described are given by wayof example only and the invention is limited only by the terms of theappended claims.

We claim:

1. A remote control crane system for operation in an enclosed areacomprising:

(A) a pair of parallel spaced apart tracks extending through said area;

(B) a bridge spanning said tracks;

(C) remotely controlled drive means for moving said bridge along saidtracks;

(D) a carriage supported on said bridge;

(E) remotely controlled drivemeans for moving said carriagealong saidbridge;

(F) hoist means suspended from said carriage; and

(G) remotely controlled drive means for raising said hoist means;

(H) said drive means for said carriage comprising:

( 1) a rotatable actuator journalled adjacentthe forward wall of saidenclosed area,

(2) a free turning capstan on said carriage;

(3) a pair of idler sheaves journalled adjacent said forward wall inassociation with said actuator, a double grooved idler sheave journalledat one end of said bridge, a pair of single idler sheaves journalled atthe other end of said bridge and an idler sheave at each forward andrear corner of said enclosed area, and

(4) a taut flexible cable extending in a loop from said actuator aroundone of said forward wall idlers to and around said double grooved bridgeidler in one direction, in one turn about said capstan in one direction,around one of said pair of single bridge idlers to one of said rearcorner idlers, to the other of said rear corneridlers, around saiddouble grooved bridge idler in the opposite direction, in one turn aboutsaid capstan in the opposite direction, around the other of said pair ofsingle bridge idlers to one of said forward corner idlers, and over theother of said forward wall idlers to the actuator.

2. A remote control crane system according to claim 1 furthercharacterized in that:

(A) said drive system for said hoist comprises:

( 1) a rotatable actuator journalled adjacent the forward wall of theenclosed area,

(2) a hook member,

(3) an idler sheave journalled adjacent said forward wall in associationwith said actuator, a double grooved idler sheave journalled at one endof said bridge, a pair of single idler sheaves journalled at the otherend of said bridge, a pair of idler sheaves on each opposite side ofsaid carriage, a pair of idler sheaves on said hook member, an idlersheave at each rear corner of said enclosed area, and a cable anchor atsaid forward wall, and

(4) a taut flexible cable extending from said actuator over said forwardwall idler to and around said double grooved bridge idler in onedirection, over one of said carriage idlers around one of said hookidlers, over the other of said carriage idlers on the same side, aroundone of said single bridge idlers, around one of said rear corner idlers,around the other of said rear corner idlers, around said double groovedbridge idler in the opposite direction, over one of said carriage idlerson the opposite side, around the other of said hook idlers, over theother of said carriage idlers on the opposite side and around the otherof said single bridge idlers to said anchor.

3. A remote control crane system according to claim 2 furthercharacterized in that said actuator, forward wall idler, carriage idlersand hook member idlers of said hoist drive system are journalled forrotation about horizontal axes and all of said other idlers of saidhoist drive system are journalled to rotate on vertical axes.

4. A remote control crane system according to claim 1 furthercharacterized in that:

(A) said drive system for said bridge comprises:

(1) a rotatable actuator journalled adjacent the forward wall of saidenclosed area,

(2) a pair of idler sheaves journalled adjacent said forward wall inassociation with said actuator and an idler sheave journalled adjacentthe rear wall of said enclosed area, and

(3) a taut flexible cable extending in a loop from said bridge towardsaid rear wall and around said rear wall idler, around one of said pairof forward wall idlers to the actuator and around the other of said pairof idlers to said bridge.

5. A remote control crane system according to claim 4 furthercharacterized in that said actuator and idlers of said bridge drivesystem are journalled for rotation about horizontal axes.

6. A remote control crane system according to claim 4 furthercharacterized in that:

(A) said drive system for said bridge includes a stabilizing means, and

(B) said stabilizing means comprises:

(1) a pair of double grooved idler sheaves spaced apart at opposite endsof said bridge,

(2) a first length of dead taut flexible cable extending from theforward wall along one side wall, around the first of said doublegrooved idlers in one direction, across said bridge, around the secondof said double grooved idlers in the opposite direction, and along theopposite side wall to the rear wall, and

(3) a second length of dead taut flexible cable extending from theforward wall along the opposite side wall, around the second of saiddouble grooved idlers in one direction across said bridge, around thefirst of said double grooved idlers in the opposite direction, and alongthe first side Wall to the rear wall.

7. A remote control crane system according to claim 6 furthercharacterized in that:

(A) said stabilizing means also comprises:

(1) an idler at each rear corner of said enclosed area,

(2) said lengths of cable are anchored in the forward wall at one endand are joined together and extend around said corner idlers across saidrear wall, and

(3) tension means in said cable adjacent one end to maintain the sametaut.

8. A remote control crane system according to claim 7 furthercharacterized in that all of said idlers of said stabilizing system arejournalled for rotation about vertical axes.

9. A remote control crane system according to claim 1 furthercharacterized in that:

(A) each of said drive means includes a rotatable actuator mounted onthe inside of the forward wall of said enclosed area journalled about ahorizontal axis extending through said wall,

(B) a drive shaft for each of said actuators extending through said walland journalled for rotation about said horizontal axis,

(C) sealing means for each of said drive shafts, and

(D) means outside of said wall for rotating each of said drive shafts.

10. A remote control crane system according to claim 1 furthercharacterized in that the actuator and said forward wall idlers arejournalled to rotate on horizontal axes and said capstan and all of saidother idlers are journalled to rotate on vertical axes.

References Cited UNITED STATES PATENTS 435,164 8/1890 Wood 21225 672,5764/1901 Tannett-Walker 212-25 3,002,727 10/ 1961 Renoud 254 3,142,3877/1964 Minty 21218 FOREIGN PATENTS 3,817 3/ 1890 Great Britain. 19,20411/1889 Great Britain.

EVON C. BLUNK, Primary Examiner.

M. L, AJEMAN, Assistant Examiner.

1. A REMOTE CONTROL CRANE SYSTEM FOR OPERATION IN AN ENCLOSED AREACOMPRISING: (A) A PAIR OF PARALLEL SPACED APART TRACKS EXTENDING THROUGHSAID AREA; (B) A BRIDGE SPANNING SAID TRACKS; (C) REMOTELY CONTROLLEDDRIVE MEANS FOR MOVING SAID BRIDGE ALONG SAID TRACKS; (D) A CARRIAGESUPPORTED ON SAID BRIDGE; (E) REMOTELY CONTROLLED DRIVE MEANS FOR MOVINGSAID CARRIAGE ALONG SAID BRIDGE; (F) HOIST MEANS SUSPENDED FROM SAIDCARRIAGE; AND (G) REMOTELY CONTROLLED DRIVE MEANS FOR RAISING SAID HOISTMEANS; (H) SAID DRIVE MEANS FOR SAID CARRIAGE COMPRISING: (1) AROTATABLE ACTUATOR JOURNALLED ADJACENT THE FORWARD WALL OF SAID ENCLOSEDAREA, (2) A FREE TURNING CAPSTAN ON SAID CARRIAGE; (3) A PAIR OF IDLERSHEAVES JOURNALLED ADJACENT SAID FORWARD WALL IN ASSOCIATION WITH SAIDACTUATOR, A DOUBLE GROOVED IDLER SHEAVE JOURNALLED AT ONE END OF SAIDBRIDGE, A PAIR OF SINGLE IDLER SHEAVES JOURNALLED AT THE OTHER END OFSAID BRIDGE AND AN IDLER SHEAVE AT EACH FORWARD AND REAR CORNER OF SAIDENCLOSED AREA, AND (4) A TAUT FLEXIBLE CABLE EXTENDING IN A LOOP FROMSAID ACTUATOR AROUND ONE OF SAID FORWARD WALL IDLERS TO AND AROUND SAIDDOUBLE GROOVED BRIDGE IDLER IN ONE DIRECTION, IN ONE TURN ABOUT SAIDCAPSTAN IN ONE DIRECTION, AROUND ONE OF SAID PAIR OF SINGLE BRIDGEIDLERS OF ONE OF SAID REAR CORNER IDLERS, TO THE OTHER OF SAID REARCORNER IDLERS, AROUND SAID DOUBLE GROOVED BRIDGE IDLER IN THE OPPOSITEDIRECTION, IN ONE TURN ABOUT SAID CAPSTAN IN THE OPPOSITE DIRECTION,AROUND THE OTHER OF SAID PAIR OF SINGLE BRIDGE IDLERS TO ONE OF SAIDFORWARD CORNER IDLERS, AND OVER THE OTHER OF SAID FORWARD WALL IDLERS TOTHE ACTUATOR.